Since what we mostly wanted was direct access to the DDS messages coming from the devices, we have gone the route of using the Hello OpenICE example to receive those and proceeding from there. You can run that example straight on the command line.

I've been working to figure out the same exact thing and haven't had much luck at all. Based on the existing code, I don't think it is possible. We are now trying to modify the code to allow for this case, but it has been difficult to separate the GUI aspects from the non-GUI aspects.